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Modal Control of Underactuated Systems

[+] Author Affiliations
D. Dane Quinn, Vineel Mallela

The University of Akron, Akron, OH

Paper No. DETC2010-28354, pp. 637-641; 5 pages
  • ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5: 22nd International Conference on Design Theory and Methodology; Special Conference on Mechanical Vibration and Noise
  • Montreal, Quebec, Canada, August 15–18, 2010
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4413-7 | eISBN: 978-0-7918-3881-5
  • Copyright © 2010 by ASME


This work addresses the modal control of underactuated mechanical systems, whereby the number of actuators is less than the degree-of-freedom of the underlying mechanical system. The performance of the control system depends on the structure of the feedback gain matrix, that is, the coupling between sensors and actuators. This coupling is often not arbitrary, but the topology of the sensor-actuator network can be a fixed constraint of the control system. This work examines the influence of this structure on the performance of the overlying control system.

Copyright © 2010 by ASME



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